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Single-arm movable type mechanical arm

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Publication number
CN203357464U
CN203357464U CN 201320359675 CN201320359675U CN203357464U CN 203357464 U CN203357464 U CN 203357464U CN 201320359675 CN201320359675 CN 201320359675 CN 201320359675 U CN201320359675 U CN 201320359675U CN 203357464 U CN203357464 U CN 203357464U
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arm
clamping
end
mechanism
rotary
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CN 201320359675
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Chinese (zh)
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蒋明安
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四川海普工控技术有限公司
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Abstract

The utility model relates to a single-arm movable type mechanical arm. The single-arm movable type mechanical arm comprises a clamping mechanism body, a control rod, a limiting block, a contact block, a rotary rolling wheel and two clamping arms, wherein the rotary rolling wheel is installed inside the clamping mechanism body and can rotate along an installing shaft, one end of one clamping arm is fixedly connected with the rotary rolling wheel, one end of the other clamping arm is fixedly connected in the clamping mechanism body, and the other end of one clamping arm and the other end of the other clamping arm form the clamping end. A through hole is further arranged in the clamping mechanism body, one end of the control rod penetrates the through hole to be fixedly connected with the contact block, the other end of the control rod is connected with a drive mechanism, one end face of the contact block is an oblique plane, and the drive mechanism forms a control mechanism controlling the oblique plane of the contact block to be away from the rotary rolling wheel or be close to and abut against the rotary rolling wheel. The single-arm movable type mechanical arm can be used for clamping of a clamped object only through rotation of one clamping arm under the condition that the other clamping arm is not required to rotate, and the application range of the mechanical arm is widened.

Description

单臂活动型机械手臂 Single-arm type robot activity

技术领域 FIELD

[0001] 本实用新型涉及一种单臂活动型机械手臂。 [0001] The present invention relates to a robot-arm-type activity.

背景技术 Background technique

[0002] 用于再现人手的的功能的技术装置称为机械手。 [0002] a function for reproducing a human hand in the art is known as robotic devices. 机械手是模仿着人手的部分动作,按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。 Is part of the robot operation imitating a human hand, automatic grab according to a given program, the trajectory and required to achieve, handling or operation of the robot apparatus. 在工业生产中应用的机械手被称为工业机械手。 Applications in industrial production is called industrial robot manipulator. 工业机械手是近代自动控制领域中出现的一项新技术,并已成为现代机械制造生产系统中的一个重要组成部分,这种新技术发展很快,逐渐成为一门新兴的学科一机械手工程。 Industrial robot is a new technology in the field of modern automatic control occur, and has become an important part of modern machinery manufacturing production system, this new technology has developed rapidly, has become a new subject robot project. 机械手涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域,是一门跨学科综合技术。 Robot mechanics related to the fields of science, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology, is a multidisciplinary integrated technology.

[0003] 工业机械手是近几十年发展起来的一种高科技自动生产设备。 [0003] Industrial robot developed in recent decades is a high-tech automated production equipment. 工业机械手也是工业机器人的一个重要分支。 Industrial robot is an important branch of industrial robots. 他的特点是可以通过编程来完成各种预期的作业,在构造和性能上兼有人和机器各自的优点,尤其体现在人的智能和适应性。 His feature is expected to complete a variety of jobs through the program, both man and machine their own advantages in construction and performance, particularly reflected in the human intelligence and adaptability. 机械手作业的准确性和环境中完成作业的能力,在国民经济领域有着广泛的发展空间。 The accuracy and the environment by manipulators in the ability to complete the job, has a broad space for development in the field of the national economy.

[0004] 机械手的发展是由于它的积极作用正日益为人们所认识:其一、它能部分的代替人工操作;其二、它能按照生产工艺的要求,遵循一定的程序、时间和位置来完成工件的传送和装卸;其三、它能操作必要的机具进行焊接和装配,从而大大的改善了工人的劳动条件,显著的提高了劳动生产率,加快实现工业生产机械化和自动化的步伐。 [0004] development manipulator because of its positive role is increasingly being recognized as follows: First, it can substitute part of the manual; secondly, it accordance with the requirements of the production process, to follow certain procedures, time and location completion of the transfer and handling the workpiece; Third, it is necessary to operate the equipment for welding and assembly, which greatly improves the working conditions for workers, significantly increased labor productivity, accelerate the industrial production mechanization and automation. 因而,受到很多国家的重视,投入大量的人力物力来研究和应用。 Thus, the attention of many countries, putting in a lot of manpower and resources to research and application. 尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合,应用的更为广泛。 Especially in high temperature, high pressure, dust, noise and the occasion with radioactive contamination and, more widely applied. 在我国近几年也有较快的发展,并且取得一定的效果,受到机械工业的重视。 In recent years, China also has rapid development, and achieved certain results, attention machinery industry.

[0005] 机械手是工业自动控制领域中经常遇到的一种控制对象。 [0005] A robot is a control object industrial automation often encountered. 机械手可以完成许多工作,如搬物、装配、切割、喷染等等,应用非常广泛。 The robot can be done a lot of work, such as transportation thereof, assembling, cutting, jet dyeing, etc., is widely used. 在现代工业中,生产过程中的自动化已成为突出的主题。 In modern industry, automation of the production process has become a prominent theme. 各行各业的自动化水平越来越高,现代化加工车间,常配有机械手,以提高生产效率,完成工人难以完成的或者危险的工作。 Increasing the level of automation of all walks of life, modern processing workshops, often with a mechanical hand, in order to increase productivity, workers completed the difficult or dangerous work to complete. 夹持机构是机械手最重要的组成部分之一,通过夹持机构,机械手才能稳固、准确的进行抓取和移动的操作。 Clamping mechanism is one of the most important components of the robot, by a clamping mechanism, the robot in order to secure accurate crawl and move operations. 机械手的机械夹持器多为双指手抓式,按其手抓的运动方式可分为平移型和回转型。 Robot in two-finger gripper mostly type clutch, its grasping motion can be divided into a translation type and rotary type. 回转型手抓有可分为单支点和双支点回转型,按夹持方式可以分为外夹式和内撑式。 With a rotary type clutch can be divided into single and full pivot rotary type, press nip can be divided into an outer and an inner clamp-type support. 但是,现有的夹持机构中,一般都是两个机械手臂同时转动对被夹持物进行夹紧,然后移动。 However, the conventional clamping mechanism, usually two robotic arms while rotating the clamped clamp was then moved. 作为部分特殊情况下的应用,两个机械手臂只需要一个转动对被夹持物进行夹紧,而另一个不需要转动。 As applications in some special cases, only one two robotic arms rotatably clamping the clamped object, the other need not be rotated.

实用新型内容 SUMMARY

[0006] 本实用新型所要解决的技术问题是提供一种单臂活动型机械手臂,该机械手臂能够用于只需要一个转动对被夹持物进行夹紧,而另一个不需要转动的情况,扩大了机械手臂的应用范围。 [0006] The present invention is to solve the technical problem of providing a single-arm type robot activity, the robot can be used only for a rotation of the clamping gripped object, and where the other need not be rotated, expanding the application range of the robot arm.

[0007] 本实用新型解决上述技术问题所采用的技术方案是:单臂活动型机械手臂,包括夹持机构本体、控制杆、限位块、触块、一个转动滚轮、两个夹持手臂,转动滚轮安装在夹持机构本体内部并能够沿安装轴转动,其中一个夹持手臂一端与转动滚轮固定连接,另一个夹持手臂的一端固定连接在夹持机构本体内,两个夹持手臂的另一端构成夹持端;夹持机构本体内还设有通孔,控制杆一端穿过通孔与触块固定连接,另一端与驱动机构连接,触块的一个端面为斜面并且驱动机构构成控制触块的斜面远离转动滚轮或靠近并顶持转动滚轮的控制机构。 Technical Solution [0007] The present invention to solve the above technical problem is: active single-arm type robot, the clamping mechanism comprising a body, a lever, the stopper, contact block, a rotation of the roller, the two clamping arms, a roller rotatably mounted within the main body and the clamping means can be mounted along the shaft, wherein a clamping arm fixed to one end rotatably connected to the wheel, the other end of the clamping arm is fixedly connected to the body of the clamping mechanism, the two clamping arms the other end of the gripping end configuration; body clamping mechanism also has a through hole, one end of the lever through the through hole and the contact block is fixed and the other end connected to the drive mechanism, a contact block end surface and an inclined surface configured to control the drive means ramp contact block away from the rotating wheel or near the top and holding the rotation of the roller control means.

[0008] 进一步地,所述控制杆的外壁上具有凸出构成的限位块,限位块位于通孔与驱动机构之间。 An outer wall [0008] Further, the control lever having a convex configuration of the stopper, the stopper is located between the through-hole and the drive mechanism.

[0009] 所述限位块为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块与通孔的中心轴重合,并且限位块最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 [0009] The stop blocks along the radially outer wall of the control rod protruding ring structure, or a plurality of radially projecting along the outer wall of the control rod and uniformly distributed bumps; stopper and through It coincides with the central axis of the hole, and the outermost end of the stopper to the end face of the control lever from the central axis of a length greater than the length of the radius of the through-hole.

[0010] 所述触块的截面为直角梯形,控制杆一端穿过通孔与触块的截面的下底所在的端面固定连接。 [0010] section of the contact block is right trapezoid, across the face end of the lever is located at the bottom section of the through hole contact block fixedly connected. 触块的截面为直角梯形是便于对触块的加工,实际上,只要保证与滚动滑轮接触的面是斜面,对梯形的另一个面并没有要求,作为扩展,还可以是等腰梯形或者普通的梯形。 Contact block is a cross-sectional right trapezoid facilitate contact of the processing block, in fact, as long as the rolling surface in contact with bevelled pulley, trapezoidal and other surface it does not require, as an extension, or may be a general isosceles trapezoids trapezoidal.

[0011] 所述直角梯形的斜边与高之间构成的夹角为10° -20°。 The [0011] the angle formed between the oblique side and the high right trapezoid is 10 ° -20 °. 作为优选,所述直角梯形的斜边与高之间构成的夹角为18°。 Advantageously, the angle formed between the oblique side and the high right trapezoid of 18 °.

[0012] 所述两个夹持手臂之间设有弹性机构。 Resilient means is provided between [0012] the two clamping arms. 所述弹性机构为弹簧或弹簧片。 Said resilient means is a spring or a plate spring.

[0013] 所述夹持端与被夹持物接触的端面设置有防滑凸纹。 [0013] The gripping ends with end surfaces in contact with the gripped object with a non-slip relief is provided. 防滑凸纹将夹持端与被夹持物接触的端面设置为凹凸相间的结构即可,可以是规则的凹凸相间的形状,如波浪形、锯齿形等,也可以是各种不规则的形状,这只防滑凸纹后,能够增大机器手夹持端与被夹持物之间的摩擦力,较好的解决了被夹持物容易脱落的问题。 The relief slip gripping ends with end surfaces in contact with the holding structure was set to white unevenness, the uneven shape may be regular alternating, such as wavy, zigzag and the like, it may also be a variety of irregular shapes, after only slip relief, possible to increase the frictional force between the robot gripper and the gripped object side, a better solution to the problem was clamped off easily.

[0014] 本实用新型的有益效果是: [0014] The beneficial effects of the present invention are:

[0015] 1、本实用新型能够用于只需要一个转动对被夹持物进行夹紧,而另一个不需要转动的情况,扩大了机械手臂的应用范围。 [0015] 1, can be used in the present invention requires only a rotation of the gripped object to be clamped need not be rotated while the case of the other, expanding the application range of the robot arm.

[0016] 2、本实用新型的触块与转动滚轮之间为滚动摩擦,摩擦力小,对工件的损害较小,并且结构简单,便于控制;为了防止驱动机构带动控制杆前进的距离过长,在控制杆的外壁上具有凸出构成的限位块,当控制杆前进到一定的距离时,限位块就会卡在通孔的位置处,使得控制杆不能够继续前进,对夹持架构夹持端的控制更加精确。 [0016] 2, the present invention contact between the block and the rotation of the roller rolling friction, friction is small, less damage to the workpiece and simple structure, easy to control; the control in order to prevent the drive rod drive mechanism advances the distance is too long the outer wall of the stopper lever having a convex configuration, when the lever goes to a certain distance, the stopper will block the card in the through hole position, such that the lever can not move on the gripping gripping end control architecture is more accurate.

[0017] 3、本实用新型在夹持端与被夹持物接触的端面设置有防滑凸纹,能够增大机器手夹持端与被夹持物之间的摩擦力,较好的解决了被夹持物容易脱落的问题。 [0017] 3, the present invention is provided with the gripping ends of the contact end face thereof a non-slip gripping relief, possible to increase the frictional force between the robot with the gripping ends of the gripped object, a better solution is sandwiched the problem was holding off easily.

附图说明 BRIEF DESCRIPTION

[0018] 图1是本实用新型的结构示意图; [0018] FIG. 1 is a structural diagram of the present invention novel;

[0019] 图2是本实用新型实施例2的结构示意图。 [0019] FIG. 2 is a structural diagram of embodiment 2 of the present embodiment of the invention.

[0020] 图中标号对应的零部件名称是:1_夹持机构本体,2-控制杆,3-限位块,4-触块,5-转动滚轮,6-夹持手臂,7-紧固螺栓,8-弹性机构,9-防滑凸纹。 [0020] Reference numeral corresponding to parts in FIG name: 1_ clamp mechanism body, a control lever 2-, 3- stopper, 4- contact block, the roller is rotated 5-, 6- clamping arm, tight 7- clamping screws, 8 an elastic means, 9- slip relief.

具体实施方式[0021] 实施例1: DETAILED DESCRIPTION [0021] Example 1:

[0022] 如图1所示,本实施例的单臂活动型机械手臂包括夹持机构本体1、控制杆2、限位块3、触块4、一个转动滚轮5、两个夹持手臂6,转动滚轮5安装在夹持机构本体I内部并能够沿安装轴转动,其中一个夹持手臂6 —端与转动滚轮5固定连接,另一个夹持手臂6的一端固定连接在夹持机构本体I内,两个夹持手臂6的另一端构成夹持端;夹持机构本体I内还设有通孔,控制杆2 —端穿过通孔与触块4固定连接,另一端与驱动机构连接,触块4的一个端面为斜面并且驱动机构构成控制触块4的斜面远离转动滚轮5或靠近并顶持转动滚轮5的控制机构。 [0022] As shown in FIG. 1, the single-arm type robot activities embodiment according to the present embodiment includes a clamp mechanism body 1, the control lever 2, the stopper 3, contact block 4, a roller 5 is rotated, the two clamping arms 6 , rotation of the roller 5 is mounted inside the body I and the gripping mechanism is rotatably mounted along the shaft, wherein a clamping arm 6 - end and rotatably connected to the roller 5 is fixed, the other end of the clamping arm 6 is fixedly connected to the body in the clamping mechanism I the other ends of the two clamping arms 6 constituting the gripping end; inner gripping mechanism is also provided with a through hole of the body I, the control lever 2 - 4 passes through an end fixedly connected to the contact piece through holes, and the other end connected to the drive mechanism , a contact end face and a bevel block 4 is configured to control the drive mechanism 4 away from the contact bevel block rotation of the roller 5 and the top or near the holding means controls rotation of the roller 5. 控制杆的外壁上具有凸出构成的限位块3,限位块3位于通孔与驱动机构之间;限位块3为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块3与通孔的中心轴重合,并且限位块3最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 An outer wall of the control rod configuration with stopper projections 3, stopper 3 is located between the through-hole and the drive mechanism; 3 stopper along the radial outer wall of the control rod protruding ring structure, or a a plurality of control rod along the radially outer wall of the projecting and uniformly distributed bumps; stopper 3 coincides with the central axis of the through hole, and the outermost end of the stopper 3 to the end surface of the block central axis of the lever through a distance greater than the length of length of the radius of the hole.

[0023] 所述触块4的截面为直角梯形,控制杆2 —端穿过通孔与触块4的截面的下底所在的端面固定连接,直角梯形的斜边与高之间构成的夹角为10° -30°优选为18°。 [0023] The contact block 4 is a cross-sectional right trapezoid, the control lever 2 - at the bottom end through the end surface where the contact section of the through-hole 4 is fixedly connected to the block interposed between the right angle trapezoidal configuration with the hypotenuse high angle of 10 ° -30 ° preferably 18 °. 试验发现,在角度为18°时,驱动机构驱动控制杆前进时,最容易带动转动滚轮5转动,并且此时驱动机构的输出功率最小。 It was found that when the angle is 18 °, the forward control rod drive mechanism, the easiest to drive rotation of the roller 5 is rotated, and at this time the minimum output power of the drive mechanism. 可以对机器手起到较好的控制。 You can play a better control of the robot.

[0024] 所述两个夹持手臂6之间设有弹性机构8,弹性机构8为弹簧或弹簧片。 [0024] The clamping arm is provided with two elastic means 6 between 8, the elastic means is a spring or the leaf spring 8.

[0025] 本实施例的单臂活动型机械其工作过程如下: [0025] The present embodiment cantilever type mechanical activity which works as follows:

[0026] 当驱动机构带动控制杆前进时,通过触块4的斜面和转动滚轮5接触,驱动机构带动控制杆继续前进,触块4的斜面在摩擦力的作用下带动转动滚轮5转动,转动滚轮5带动夹持手臂6转动并使得夹持手臂6的夹持端靠近另一个固定设置的夹持手臂6,可以将被夹持物夹紧,当触块4向后移动时,通过弹性机构的弹力使得两个夹持手臂6的夹持端松开。 [0026] When the drive mechanism drives the control rod advances, by contacting the inclined surface 4 and the contact block rotation of the roller 5, the drive mechanism drives the control rod to move forward, contact the inclined surface 4 of the block driving rotation of the roller 5 rotated by the frictional force, the rotation driven nip roller 5 and the arm 6 is rotated so that the clamping arms near the clamping end of the clamping arm 6 is fixed to the other 6, the clamp may be gripped object, when the contact block 4 is moved backward by the elastic means so that the clamping force of the clamping ends of the two arms 6 release. 由于触块与转动滚轮之间为滚动摩擦,摩擦力小,对工件的损害较小,并且结构简单,便于控制。 Since the contact between the block and the rotation of the roller rolling friction, low friction, damage to the workpiece is small, and simple in structure, easy to control. 为了防止驱动机构带动控制杆前进的距离过长,在控制杆的外壁上具有凸出构成的限位块3,当控制杆前进到一定的距离时,限位块就会卡在通孔的位置处,使得控制杆不能够继续如进,对夹持架构夹持端的控制更加精确。 In order to prevent the drive from the control rod drive mechanism advances too long, having a projecting stopper on an outer wall composed of the control lever 3, when the lever goes to a certain distance, the stopper will be stuck in the through hole position , the control lever so as not continue into more precise control of the architecture of the clamping gripper end.

[0027] 实施例2: [0027] Example 2:

[0028] 参见图2所示,本实施例在实施例1的基础上,夹持端与被夹持物接触的端面设置有防滑凸纹9。 [0028] Referring to FIG 2, in this embodiment, on the basis of the embodiment 1, the gripping ends with end surfaces in contact with a non-slip gripping relief was provided 9.

[0029] 如上所述,可以较好的实施本实用新型。 [0029] As described above, preferred embodiments of the present invention.

Claims (9)

1.单臂活动型机械手臂,其特征在于,包括夹持机构本体(I)、控制杆(2)、限位块(3 )、触块(4 )、一个转动滚轮(5 )、两个夹持手臂(6 ),转动滚轮(5 )安装在夹持机构本体(I)内部并能够沿安装轴转动,其中一个夹持手臂(6) —端与转动滚轮(5)固定连接,另一个夹持手臂(6)的一端固定连接在夹持机构本体(I)内,两个夹持手臂(6)的另一端构成夹持端;夹持机构本体(I)内还设有通孔,控制杆(2)—端穿过通孔与触块(4)固定连接,另一端与驱动机构连接,触块(4)的一个端面为斜面并且驱动机构构成控制触块(4)的斜面远离转动滚轮(5)或靠近并顶持转动滚轮(5)的控制机构。 1. Activity-arm type robot, characterized in that the clamping mechanism comprises a body (the I), the control lever (2), the stopper (3), contact blocks (4), a rotatable roller (5), two clamping arm (6), rotatable roller (5) mounted inside the clamp mechanism body (I) and rotatably mounted along the shaft, wherein a clamping arm (6) - end of rotation of the roller (5) is fixedly connected, the other One end of the clamping arm (6) is fixedly connected to the clamp mechanism body (I), the other ends of the two clamping arms (6) constituting the gripping end; inner gripping mechanism body (I) is also provided with a through hole, the control lever (2) - through the through hole with the contact terminal block (4) is fixed and the other end connected to the drive mechanism, a contact block end surface (4) and the drive mechanism is configured ramp control contact block (4) remote from the ramp rotation of the roller (5) or near the top of the control means and rotation of the roller holders (5).
2.根据权利要求1所述的单臂活动型机械手臂,其特征在于,所述控制杆的外壁上具有凸出构成的限位块(3 ),限位块(3 )位于通孔与驱动机构之间。 The single-arm robot of the type of activity to claim 1, characterized in that the outer wall of the control rod having a stopper (3) projecting configuration, the stopper (3) located in the through-hole of the drive between agencies.
3.根据权利要求2所述的单臂活动型机械手臂,其特征在于,所述限位块(3)为沿控制杆的外壁上径向凸出的圆环结构,或者为若干个沿控制杆的外壁上径向凸出并均匀分布的凸块;限位块(3)与通孔的中心轴重合,并且限位块(3)最外端的端面至控制杆中心轴的距离长度大于通孔的半径长度。 The cantilever-type activities of the robot arm as claimed in claim 2, wherein said radially outer wall of the stopper along the control rod projecting annular structure blocks (3), or a plurality of direction control an outer wall of the rod projecting radially and evenly distributed bumps; stopper central axis (3) coincides with the through hole, and the stopper (3) to the end face of the outermost end of the central axis of the lever through a distance greater than the length of length of the radius of the hole.
4.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述触块(4)的截面为直角梯形,控制杆(2)—端穿过通孔与触块(4)的截面的下底所在的端面固定连接。 1 according to the single-arm type robot activities of any one of claims 1-3, characterized in that the cross section of the contact block (4) is a right angle trapezoid, the control lever (2) - terminal through the through hole lower end surface contact section where the block (4) is fixedly connected.
5.根据权利要求4所述的单臂活动型机械手臂,其特征在于,所述直角梯形的斜边与高之间构成的夹角为10° -30°。 Activity according to claim cantilever-type robot of claim 4, wherein the angle formed between the hypotenuse of the right angle and the high trapezoid of 10 ° -30 °.
6.根据权利要求5所述的单臂活动型机械手臂,其特征在于,所述直角梯形的斜边与高之间构成的夹角为18°。 The active type robot-arm according to claim 5, wherein an angle formed between said oblique angle trapezoidal high as 18 °.
7.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述两个夹持手臂(6 )之间设有弹性机构(8 )。 The 1-3-arm type robot activities of any one of the preceding claims, characterized in that an elastic means (8) between the two clamping arms (6).
8.根据权利要求7所述的单臂活动型机械手臂,其特征在于,所述弹性机构(8)为弹黃或弹黃片。 Activity according to claim cantilever-type robot of claim 7, wherein said resilient means (8) is a spring or a sheet spring.
9.根据权利要求1至3任一项所述的单臂活动型机械手臂,其特征在于,所述夹持端与被夹持物接触的端面设置有防滑凸纹(9)。 According to claim 1 to 3, a single arm type robot activities any one, characterized in that the gripping ends with end surfaces thereof being in contact with the clamped antiskid relief (9).
CN 201320359675 2013-06-23 2013-06-23 Single-arm movable type mechanical arm CN203357464U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103433936A (en) * 2013-06-23 2013-12-11 四川海普工控技术有限公司 Industrial mechanical arm with single-arm rotation clamping function
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN104626158A (en) * 2015-01-27 2015-05-20 上海爱望自动化设备制造有限公司 Modified manipulator

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103433936A (en) * 2013-06-23 2013-12-11 四川海普工控技术有限公司 Industrial mechanical arm with single-arm rotation clamping function
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN103817691B (en) * 2014-03-06 2015-06-03 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN104626158A (en) * 2015-01-27 2015-05-20 上海爱望自动化设备制造有限公司 Modified manipulator

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